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All figures will appear in the finished book in black and white. There is color in many figures, but it does not appear to be important in most of them. Here is the list of figures that may be unclear after conversion to grayscale:

7-3 (sensors-pressure-compare),

7-7 (sensors-magnetic-declination; will be particularly complicated to convert),

10-6 (vec-polar-coordinates),

11-2 (path-waypoints-line),

11-6 (path-waypoints-fillet),

11-14 (path-waypoints-dubins).

Some of figures were reduced too much in the layout. Increasing the overall image size will help, but it may not be an option in many cases, since some figures contain multiple parts side by side. I recommend increasing the overall size as much as possible, and then increasing the label type size so it is at least 5 pt AFTER REDUCTION. The desired range for the labels’ type size is 7-9 pt. Here is the list of the figures that are too small/ where the type is barely legible or illegible:

4-7 (forces-lift-blending),

6-10 (loop-roll-root-locus),

6-12 (loop-freq-response),

8-4 (est-roll-pitch-model-inversion),

8-7 (est-roll-pitch-ekf),

8-8 (est-gps-ekf),

10-4 (vec-straight-line-parameters),

12-1 (plan-voronoi-example),

12-2 (plan-voronoi-augmented),

12-4 through 12-15 (

plan-voronoi-optimal,

plan-voronoi-rectangular1,

plan-voronoi-rectangular2,

plan-voronoi-rectangular3,

plan-voronoi-rectangular4,

plan-tree, - looks fine to me

plan-rrt-algorithm1,

plan-rrt-algorithm2,

plan-rrt-algorithm3,

plan-rrt-algorithm4,

plan-rrt-algorithm5,

plan-rrt-algorithm6,

plan-rrt1,

plan-rrt2,

plan-rrt3,

plan-rrt4,

plan-RRT-3D-1a,

plan-RRT-3D-1b,

plan-RRT-3D-2a,

plan-RRT-3D-2b,

plan-RRT-Dubins-1a,

plan-RRT-Dubins-1b,

plan-RRT-Dubins-2a,

plan-RRT-Dubins-2b,

plan-cover-lookahead,

plan-cover-1,

plan-cover-returnmap-1,

plan-cover-2,

plan-cover-returnmap-2,

plan-cover-RRT-Dubins-paths-1a,

plan-cover-RRT-Dubins-paths-1b,

plan-cover-RRT-Dubins-returnmap-1,

plan-cover-RRT-Dubins-paths-2a,

plan-cover-RRT-Dubins-paths-2b,

plan-cover-RRT-Dubins-returnmap-2).

Though the line weight is not an issue with the overly reduced figures, increasing the overall size will make the line weights more consistent. The line weights need to be increased in figure C-4 (animation-spacecraft-lines).